WO2020003614A1 - Insertion apparatus - Google Patents

Insertion apparatus Download PDF

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Publication number
WO2020003614A1
WO2020003614A1 PCT/JP2019/007911 JP2019007911W WO2020003614A1 WO 2020003614 A1 WO2020003614 A1 WO 2020003614A1 JP 2019007911 W JP2019007911 W JP 2019007911W WO 2020003614 A1 WO2020003614 A1 WO 2020003614A1
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WO
WIPO (PCT)
Prior art keywords
shaft member
shaft
attached
rotation axis
fitted
Prior art date
Application number
PCT/JP2019/007911
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French (fr)
Japanese (ja)
Inventor
豊 正木
Original Assignee
オリンパス株式会社
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Filing date
Publication date
Application filed by オリンパス株式会社 filed Critical オリンパス株式会社
Publication of WO2020003614A1 publication Critical patent/WO2020003614A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes

Definitions

  • the present invention relates to an insertion device, and more particularly, to an insertion device having a driven member that operates according to a driving force generated in a driving source.
  • the above-mentioned auxiliary tool operates (rotates) according to a driving force generated in a driving source such as an electric motor disclosed in International Publication No. 2014/192527.
  • the driving force generated in the above-described driving source may be a plurality of driving forces arranged in parallel with each other, such as a motor shaft and a shaft member disclosed in International Publication No. WO2014 / 92537. Is transmitted to the above-mentioned auxiliary tool through the shaft member.
  • WO 2014/92537 does not specifically disclose a method for reducing the complexity of the operation for adjusting the inter-axis distance described above. Therefore, according to the configuration disclosed in International Publication No. WO 2014/92537, a problem arises in that the operation related to the assembly of the mechanism for transmitting the driving force generated in the driving source to the driven member becomes complicated. ing.
  • the present invention has been made in view of the above-described circumstances, and is an insertion device capable of reducing the complexity of work relating to assembly of a mechanism for transmitting a driving force generated in a driving source to a driven member. It is intended to provide.
  • An insertion device includes an elongated insertion portion inserted into a subject, a driven member provided in the insertion portion, and a first member parallel to a longitudinal axis of the insertion portion.
  • a drive source that generates a driving force for driving the driven member by rotating about a rotation axis; and a rotation about the first rotation axis with the rotation of the drive source;
  • FIG. 1 is a diagram illustrating an example of a configuration of an endoscope system including an endoscope according to an embodiment.
  • FIG. 2 is a cross-sectional view schematically illustrating an example of a configuration of a motor unit provided in the endoscope according to the embodiment and a peripheral portion thereof.
  • the figure which expanded a part of FIG. The figure for explaining an example of the composition of the gear train provided in the endoscope concerning an embodiment.
  • FIGS. 1 to 6 relate to an embodiment of the present invention.
  • the endoscope system 1 includes an endoscope 11 having a function as an insertion device that can be inserted into a lumen of a subject, and a plurality of units connected to the endoscope 11. And a control system 12 including the control system.
  • FIG. 1 is a diagram illustrating an example of a configuration of an endoscope system including the endoscope according to the embodiment.
  • the endoscope 11 is configured to have an elongated insertion section 21, an operation section 22 provided on the base end side of the insertion section 21, and a universal cable 23 extending from the operation section 22.
  • the control system 12 and the endoscope 11 are connected by a universal cable 23 extending from the operation unit 22.
  • the insertion section 21 is configured to include an insertion section main body 31 and a rotating member 32.
  • the insertion portion main body 31 has an elongated shape that is inserted into the lumen of the subject from the distal end side in the longitudinal direction and extends along the longitudinal axis direction.
  • the insertion portion main body 31 is provided with a distal end hard portion 31a, a curved portion 31b, and a flexible tube portion 31c in this order from the distal end.
  • the flexible tube portion 31c has flexibility according to the bent shape of the lumen of the subject.
  • the bending portion 31b is formed by a known structure having a plurality of bending pieces.
  • the bending portion 31b can be bent in four directions, up, down, left, and right, in accordance with the operation of the operation unit 22.
  • An observation window (not shown) and an illumination window (not shown) are provided in the distal end hard portion 31 a of the insertion portion 21.
  • An imaging unit (not shown) is provided behind the observation window of the distal end hard portion 31a.
  • the imaging unit includes an observation optical system and an imaging device.
  • a light guide 41 composed of a plurality of optical fiber bundles and a signal cable 42 for an image signal are inserted through the insertion section 21, the operation section 22, and the universal cable 23 of the endoscope 11, respectively.
  • a motor driving cable 43 is inserted into the operation unit 22 and the universal cable 23.
  • a connector 23a is provided at the end of the universal cable 23.
  • the connector 23a is provided with a light guide connector 41a, a processor cable 41b, and a controller cable 41c.
  • the connector 23a has a board inside, and the memory 23b is mounted on the board.
  • the memory 23b is a rewritable nonvolatile memory.
  • the controller 12d of the control system 12 can access the memory 23b through the controller cable 41c, and can write data through a signal line (not shown).
  • the signal cable 42 is inserted through the processor cable 41b and is configured to be connectable to the processor 12b.
  • the motor driving cable 43 is inserted into the controller cable 41c and is configured to be connectable to the controller 12d.
  • the operation unit 22 includes a grip 51, a buckling stopper 52 supporting a base end of the flexible tube 31 c of the insertion unit 21, two knobs 51 a and 51 b provided on the grip 51, and various instructions. And an operation member section 53 having a plurality of buttons to which are assigned.
  • the operation member section 53 is provided with a release button, a suction button, an air / water supply button, and the like.
  • the bend preventing portion 52 prevents the flexible tube portion 31c of the insertion portion 21 from being bent.
  • the user of the endoscope 11, for example, an operator can turn the knob 51a to bend the bending portion 31b of the insertion portion 21 shown in FIG. 1 in the vertical direction.
  • the user can bend the bending portion 31b in the left-right direction by rotating the knob 51b.
  • the rotating member 32 is disposed in the insertion section 21 of the endoscope 11. More specifically, the rotating member 32 is detachably attached to the proximal end side of the curved portion 31b and, for example, to the outer peripheral surface near the distal end portion of the flexible tube portion 31c from the distal end side of the insertion portion main body 31. ing.
  • the rotating member 32 is configured to have fins 32a protruding in a spiral shape on the outer peripheral portion.
  • the rotating member 32 is configured to be detachable at a predetermined position of the flexible tube portion 31c through the distal end hard portion 31a and the curved portion 31b of the insertion portion main body 31.
  • the rotating member 32 is configured as a driven member that rotates around the longitudinal axis of the insertion section 21 by the driving force of the motor 71.
  • a drive unit 61 for driving the rotating member 32 is provided at a portion from the vicinity of the boundary between the insertion portion 21 and the operation portion 22 to, for example, the distal end portion of the flexible tube portion 31c.
  • the rotating member 32 is configured to be able to rotate by the driving force of the driving unit 61.
  • the rotation directions of the rotation member 32 are both directions around the central axis CO of the insertion portion main body 31. Therefore, the rotating member 32 can be used as an auxiliary tool for assisting the operation when inserting the insertion section main body 31 into the lumen of the subject.
  • the rotating member 32 can be used as an auxiliary tool for assisting an operation when removing the insertion portion main body 31 inserted into the lumen of the subject.
  • the rotating member 32 is configured as an auxiliary tool capable of assisting an operation related to insertion and removal of the insertion portion main body 31.
  • the description will be made assuming that the central axis CO of the insertion section main body 31 is coaxial with the longitudinal axis of the insertion section main body 31.
  • the drive unit 61 includes a motor unit 62 disposed near a boundary between the insertion section 21 and the operation section 22, a gear 63 disposed at, for example, a distal end of the flexible tube section 31c, and a motor unit 62 and a gear 63. And a drive shaft 64 disposed between the two.
  • the motor unit 62 has a motor 71 as a drive source and a gear train 72.
  • the motor 71 and the gear train 72 are arranged on the base end side of the insertion section 21.
  • the motor unit 62 is housed in a gear box 73 serving as a gear support frame in a state protruding from a vicinity of a boundary between the insertion portion 21 and the operation portion 22 in a direction orthogonal to a longitudinal direction of the insertion portion 21. I have.
  • the drive shaft 64 is inserted into the flexible tube 31c.
  • a channel 66 is provided outside the drive shaft 64.
  • the channel 66 has a tube main body 66a and a fixing portion 66b.
  • the drive shaft 64 is inserted through the tube body 66a.
  • the tube body 66a protects the outside of the drive shaft 64 over substantially the entire length.
  • the fixing portion 66b is fixed to the base end of the tube main body 66a.
  • the drive shaft 64 is inserted not only into the tube main body 66a but also into the cylindrical fixing portion 66b.
  • the tube main body 66a is formed using a material such as a resin having electrical insulation, abrasion resistance and flexibility.
  • a gear 63 is fixed to the tip of the drive shaft 64.
  • a relay gear 90 is fixed to the base end of the drive shaft 64.
  • a portion of the drive shaft 64 closer to the tip end than the relay gear 90 has appropriate elasticity and flexibility.
  • the rotating member 32 has a cylindrical shape, and has a tooth portion (hereinafter referred to as an inner tooth portion) 32b on the inner peripheral surface.
  • the inner peripheral tooth portion 32b may be formed on the inner peripheral surface of the rotating member 32 or may be formed on the inner peripheral surface of a cylindrical member fixed to the inner peripheral surface of the rotating member 32.
  • the control system 12 includes a light source unit 12a, a processor 12b, a monitor 12c, a controller 12d, and an input unit 12e.
  • the light source unit 12a and the processor 12b are connected.
  • the processor 12b and the monitor 12c are also connected.
  • the light source unit 12a and the controller 12d are also connected.
  • the controller 12d and the input unit 12e are also connected.
  • the light source unit 12a emits illumination light for illuminating the observation target.
  • the illumination light from the light source unit 12a enters the light guide connector 41a.
  • the processor 12b includes an image processing unit that processes an image captured by the imaging unit of the observation optical system to generate an endoscope image.
  • the processor 12b is connected to the imaging unit of the endoscope 11 via the processor cable 41b.
  • the monitor 12c is configured as a display unit that displays the generated endoscope image.
  • the controller 12d controls the entire endoscope system 1.
  • the controller 12d is a peripheral device connected when the endoscope 11, which is the main body of the endoscope, is used.
  • the input unit 12e is a device for inputting instructions and the like to the controller 12d.
  • the input unit 12e is, for example, a keyboard or a foot switch (not shown).
  • the input unit 12e includes a forward switch FS and a backward switch BS for controlling the motor 71 and instructing the insertion section 21 to move in and out of the body cavity.
  • the controller 12d is not limited to a dedicated device, but may be a general-purpose processing device such as a personal computer on which an arbitrary program is installed.
  • the motor unit 62 controls the rotation speed of the motor 71 by servo control or the like in response to a command from the controller 12d.
  • the controller 12d controls the rotation direction and the rotation direction of the motor 71.
  • FIG. 2 is a cross-sectional view schematically illustrating an example of a configuration of a motor unit provided in the endoscope according to the embodiment and peripheral portions thereof.
  • FIG. 3 is an enlarged view of a part of FIG.
  • the motor 71 is provided so as to be built in the endoscope 11.
  • the gear train 72 has a plurality of gears that transmit a rotational driving force from a motor 71 built in the endoscope 11.
  • the gear box 73 has an outer case 83 constituted by a case body 83a and a cap 83b.
  • the motor 71 has a cylindrical motor shaft 71a at the tip.
  • the motor 71 is connected to a circuit board 81a via a cable 71b extending from a base end.
  • the circuit board 81a is provided with a connector 81b that can be connected to the motor driving cable 43. That is, the motor 71 is connected to the motor driving cable 43 via the circuit board 81a.
  • a relay gear 71c and a bearing member 71d are attached to the motor shaft 71a.
  • the motor shaft 71a is fitted into the bracket 111 with the bearing member 71d attached.
  • the motor shaft 71a rotates around the rotation axis M (see FIG. 3) with the rotation of the motor 71.
  • the rotation axis M of the motor shaft 71a is parallel to the center axis CO in a state where the motor shaft 71a to which the bearing member 71d is attached is fitted into the bracket 111.
  • the motor 71 generates a driving force for driving the rotating member 32 by rotating about a rotation axis M parallel to a central axis CO corresponding to the longitudinal axis of the insertion portion 21.
  • the relay gear 71c is mounted at a position where the relay gear 71c meshes with the relay gear 72c of the gear train 72, and rotates around the rotation axis M according to the rotation of the motor shaft 71a.
  • the gear train 72 includes a relay gear 72c that rotates around the axis of the rotation axis G1 (see FIG. 3), a relay gear 72d that rotates around the axis of the rotation axis G2 (see FIG. 3), and a relay gear 90.
  • the relay gear 72c is attached to a position on the distal end side of the cylindrical shaft member 72a that meshes with the relay gear 71c.
  • a cap 72b is fitted near the relay gear 72c in the shaft member 72a.
  • the relay gear 72d is located at a position where it meshes with each of the teeth formed on the proximal end side of the shaft member 72a and the cylindrical relay gear 90 having an internal space 90a capable of accommodating the proximal end of the drive shaft 64. Are located in
  • a rolling bearing 72e is attached to the shaft member 72a at a position adjacent to the base end side of the relay gear 72c.
  • a bearing member such as a ball bearing, a roller bearing, and a needle bearing can be used as the rolling bearing 72e.
  • a sliding bearing may be attached instead of the rolling bearing 72e.
  • the rolling bearing 72e is formed as a bearing member that is inserted into the inner ring while the inner ring rotates with respect to the outer ring and the shaft member 72a is rotatable around the rotation axis G1.
  • the outer ring of the rolling bearing 72e is fixed in a state of being fitted into each of the bracket 111 and the housing 72f constituting the exterior of the gear train 72.
  • a distal end side of the shaft member 72a protrudes from the housing 72f.
  • the shaft member 72a rotates around the rotation axis G1 together with the inner ring of the rolling bearing 72e with the rotation of the relay gears 71c and 72c.
  • the rotation axis G1 is parallel to the central axis CO in a state where the shaft member 72a to which the rolling bearing 72e is attached is fitted into the bracket 111. That is, the shaft member 72a rotates around the rotation axis G1 with the rotation of the motor shaft 71a.
  • the shaft member 72g is fitted into the housing 72f with the two ball bearings 72h attached.
  • the ball bearing 72h is formed as a bearing member in which the outer ring rotates with respect to the inner ring, and the shaft member 72g is inserted into the inner ring.
  • the relay gear 72d is attached at a position so as to cover the outer rings of the two ball bearings 72h.
  • the relay gear 72d together with the outer rings of the two ball bearings 72h, rotates around the rotation axis G2 corresponding to the central axis of the shaft member 72g with the rotation of the teeth formed on the base end side of the shaft member 72a. Rotate.
  • the rotating shaft G2 is parallel to the central axis CO in a state where the shaft member 72a to which the rolling bearing 72e is attached is fitted into the bracket 111.
  • the central axis CO, the rotation axis M, the rotation axis G1, and the rotation axis G2 have a positional relationship parallel to each other.
  • the motor shaft 71a, the shaft member 72a, and the shaft member 72g are arranged so as to have a parallel positional relationship with each other.
  • the rotational driving force generated in the motor 71 is transmitted to the relay gear 72c via the motor shaft 71a and the relay gear 71c. Further, according to the configuration described above, the rotational driving force transmitted to the relay gear 72c is transmitted to the base end of the drive shaft 64 via the shaft member 72a, the relay gear 72d, and the relay gear 90.
  • the relay gear 71c, the shaft member 72a, the relay gear 72c, the relay gear 72d, the relay gear 90, and the drive shaft 64 constitute a driving force transmission mechanism that transmits the driving force generated by the motor 71 to the rotating member 32.
  • the rotating member 32 rotates around the longitudinal axis of the insertion section 21 according to the driving force transmitted by the rotation of the motor shaft 71a and the shaft member 72a.
  • the rolling bearing 72e is provided with an inner ring 76a that rotates together with the shaft member 72a, and an outer ring 76b that is fitted into the housing 72f with a part of the distal end protruding from the housing 72f. ing.
  • a fitting portion 77 having a shape that can be fitted to a fitted portion 111c (described later) of the bracket 111 is provided around the outer ring 76b of the rolling bearing 72e. Is formed.
  • the fitting portion 77 is formed to have a convex shape corresponding to the male side in the spigot structure.
  • 4 and 5 are diagrams for explaining an example of a configuration of a gear train provided in the endoscope according to the embodiment.
  • the bracket 111 has a hole 111a into which a motor shaft 71a (not shown) to which a bearing member 71d is attached and a hole 111b into which a shaft member 72a to which a rolling bearing 72e is attached are fitted. It is configured as a provided fixing member.
  • the bracket 111 has a fixed portion provided with a hole 111a into which the portion of the motor shaft 71a to which the bearing member 71d is attached and a hole 111b into which the portion of the shaft member 72a to which the rolling bearing 72e is attached. It is configured as a member.
  • a fitted portion 111c having a shape that can be fitted to the fitting portion 77 of the gear train 72 is formed.
  • the fitting portion 111c is formed to have a concave shape corresponding to the female side in the spigot structure.
  • the cap 72b and the relay gear 72c are respectively attached to predetermined positions on the distal end side of the shaft member 72a after the shaft member 72a is fitted into the hole 111b.
  • the shaft member 72a has a fitting portion 77 formed by a rolling bearing 72e, a housing 72f having a shape that covers a part of the outer peripheral surface of the rolling bearing 72e, and a fitting formed in the hole 111b.
  • the fitting portion 111c is fitted into the bracket 111 with the fitting portion 111c fitted.
  • the gear train 72 and the bracket 111 are connected by a spigot structure.
  • the position of the rotation axis M with respect to the bracket 111 is defined by fitting the motor shaft 71a to which the bearing member 71d is attached into the hole 111a. Further, according to the present embodiment, by fitting the shaft member 72a to which the rolling bearing 72e is attached into the hole 111b, the fitting portion 77 and the fitted portion 111c are fitted together, and the rotating shaft G1 with respect to the bracket 111 is fitted. (And the position of G2) are defined. Therefore, according to the present embodiment, the motor shaft 71a to which the bearing member 71d is attached is fitted into the hole 111a, and the shaft member 72a to which the rolling bearing 72e is attached is fitted into the hole 111b.
  • the inter-axis distance TL with G1 can be reliably set to a predetermined distance. Therefore, according to the present embodiment, it is possible to reduce the complexity of the operation related to the assembly of the mechanism for transmitting the driving force generated by the motor 71 to the rotating member 32.

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Abstract

This insertion apparatus has: an elongated insertion part which is inserted into an object to be examined; a driven member provided in the insertion part; a driving source which generates a driving force for driving the driven member by rotating around a first rotation axis parallel to the longitudinal axis of the insertion part; a first shaft member which rotates around the first rotation axis as the driving source rotates and to which a first bearing member is attached; a second shaft member which rotates around a second rotation axis parallel to the first rotation axis as the first shaft member rotates and to which a second bearing member is attached; and a fixing member which is provided with a first hole in which the first shaft member having the first bearing member attached thereto is fitted and a second hole in which the second shaft member having the second bearing member attached thereto is fitted.

Description

挿入機器Insertion equipment
　本発明は、挿入機器に関し、特に、駆動源において発生した駆動力に応じて動作する被駆動部材を有する挿入機器に関するものである。 The present invention relates to an insertion device, and more particularly, to an insertion device having a driven member that operates according to a driving force generated in a driving source.
　医療分野においては、例えば、細長な挿入部を有する内視鏡において、当該挿入部の外周面を覆うように装着された状態で回転することにより、当該挿入部の挿入及び抜去に係る操作を補助する補助具が従来用いられている。そして、例えば、国際公開第２０１４／１９２５３７号には、前述の補助具と略同様の構成を有する装着ユニットが開示されている。 In the medical field, for example, in an endoscope having an elongated insertion portion, by rotating while being mounted so as to cover the outer peripheral surface of the insertion portion, an operation related to insertion and removal of the insertion portion is assisted. Auxiliary tools have been conventionally used. And, for example, International Publication No. WO 2014/92537 discloses a mounting unit having a configuration substantially similar to that of the above-described auxiliary tool.
　具体的には、国際公開第２０１４／１９２５３７号には、内視鏡装置において、電動モータにおいて発生した駆動力が駆動シャフトを介して装着ユニットに伝達されることにより、当該装着ユニットが内視鏡挿入部に対して長手軸回り方向に回転する構成が開示されている。 Specifically, International Publication No. WO 2014/92537 discloses that in an endoscope apparatus, a driving force generated by an electric motor is transmitted to a mounting unit via a driving shaft, so that the mounting unit is connected to the endoscope. A configuration that rotates in a direction around a longitudinal axis with respect to an insertion portion is disclosed.
　ここで、前述の補助具は、例えば、国際公開第２０１４／１９２５３７号に開示されている電動モータ等のような駆動源において発生した駆動力に応じて動作（回転）する。 補助 Here, the above-mentioned auxiliary tool operates (rotates) according to a driving force generated in a driving source such as an electric motor disclosed in International Publication No. 2014/192527.
　また、前述の駆動源において発生した駆動力は、例えば、国際公開第２０１４／１９２５３７号に開示されているモータシャフト及びシャフト部材等のような、互いに平行な位置関係を有して配置された複数の軸部材を介して前述の補助具に伝達される。 In addition, the driving force generated in the above-described driving source may be a plurality of driving forces arranged in parallel with each other, such as a motor shaft and a shaft member disclosed in International Publication No. WO2014 / 92537. Is transmitted to the above-mentioned auxiliary tool through the shaft member.
　そのため、前述の補助具を適切な回転状態で回転させるためには、例えば、前述の複数の軸部材における軸間距離の調整に係る煩雑な作業を行う必要がある。しかし、国際公開第２０１４／１９２５３７号には、前述の軸間距離の調整に係る作業の煩雑さを軽減するための手法について特に開示等されていない。従って、国際公開第２０１４／１９２５３７号に開示された構成によれば、駆動源において発生した駆動力を被駆動部材へ伝達するための機構の組立てに係る作業が煩雑化してしまう、という課題が生じている。 Therefore, in order to rotate the above-mentioned assisting tool in an appropriate rotation state, for example, it is necessary to perform a complicated operation related to adjustment of the inter-axis distance of the above-mentioned plurality of shaft members. However, WO 2014/92537 does not specifically disclose a method for reducing the complexity of the operation for adjusting the inter-axis distance described above. Therefore, according to the configuration disclosed in International Publication No. WO 2014/92537, a problem arises in that the operation related to the assembly of the mechanism for transmitting the driving force generated in the driving source to the driven member becomes complicated. ing.
　本発明は、前述した事情に鑑みてなされたものであり、駆動源において発生した駆動力を被駆動部材へ伝達するための機構の組立てに係る作業の煩雑さを軽減することが可能な挿入機器を提供することを目的としている。 The present invention has been made in view of the above-described circumstances, and is an insertion device capable of reducing the complexity of work relating to assembly of a mechanism for transmitting a driving force generated in a driving source to a driven member. It is intended to provide.
　本発明の一態様の挿入機器は、被検体の内部に挿入される細長な挿入部と、前記挿入部に設けられた被駆動部材と、前記挿入部の長手軸に対して平行な第１の回転軸周りに回転することにより、前記被駆動部材を駆動させるための駆動力を発生する駆動源と、前記駆動源の回転に伴って前記第１の回転軸周りに回転するとともに、第１の軸受部材が取り付けられた第１の軸部材と、前記第１の軸部材の回転に伴って前記第１の回転軸に対して平行な第２の回転軸周りに回転し、前記駆動力を前記被駆動部材に伝達するとともに、第２の軸受部材が取り付けられた第２の軸部材と、前記第１の軸受部材が取り付けられた前記第１の軸部材が嵌め込まれる第１の孔と、前記第２の軸受部材が取り付けられた前記第２の軸部材が嵌め込まれる第２の孔と、が設けられた固定部材と、を有する。 An insertion device according to one embodiment of the present invention includes an elongated insertion portion inserted into a subject, a driven member provided in the insertion portion, and a first member parallel to a longitudinal axis of the insertion portion. A drive source that generates a driving force for driving the driven member by rotating about a rotation axis; and a rotation about the first rotation axis with the rotation of the drive source; A first shaft member to which a bearing member is attached, and the first shaft member is rotated around a second rotation axis parallel to the first rotation axis with rotation of the first shaft member, and the driving force is applied to the first shaft member. A second shaft member to which a second bearing member is attached while transmitting to the driven member, a first hole into which the first shaft member to which the first bearing member is attached is fitted, A second shaft member to which the second shaft member to which the second bearing member is attached is fitted; Having a fixing member and the hole, is provided, the.
実施形態に係る内視鏡を含む内視鏡システムの構成の一例を示す図。FIG. 1 is a diagram illustrating an example of a configuration of an endoscope system including an endoscope according to an embodiment. 実施形態に係る内視鏡に設けられたモータユニット及びその周辺部分の構成の一例を概略的に示す断面図。FIG. 2 is a cross-sectional view schematically illustrating an example of a configuration of a motor unit provided in the endoscope according to the embodiment and a peripheral portion thereof. 図２の一部を拡大した図。The figure which expanded a part of FIG. 実施形態に係る内視鏡に設けられた歯車列の構成の一例を説明するための図。The figure for explaining an example of the composition of the gear train provided in the endoscope concerning an embodiment. 実施形態に係る内視鏡に設けられた歯車列の構成の一例を説明するための図。The figure for explaining an example of the composition of the gear train provided in the endoscope concerning an embodiment. 実施形態に係る内視鏡において、歯車列をブラケットに取り付けた状態を示す図。The figure which shows the state which attached the gear train to the bracket in the endoscope which concerns on embodiment.
　以下、本発明の実施形態について、図面を参照しつつ説明を行う。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　図１から図６は、本発明の実施形態に係るものである。 FIGS. 1 to 6 relate to an embodiment of the present invention.
　内視鏡システム１は、図１に示すように、被検体の管腔の内部に挿入可能な挿入機器としての機能を有する内視鏡１１と、内視鏡１１に接続される複数のユニットを含むコントロールシステム１２と、を有して構成されている。図１は、実施形態に係る内視鏡を含む内視鏡システムの構成の一例を示す図である。 As shown in FIG. 1, the endoscope system 1 includes an endoscope 11 having a function as an insertion device that can be inserted into a lumen of a subject, and a plurality of units connected to the endoscope 11. And a control system 12 including the control system. FIG. 1 is a diagram illustrating an example of a configuration of an endoscope system including the endoscope according to the embodiment.
　内視鏡１１は、細長の挿入部２１と、挿入部２１の基端側に設けられた操作部２２と、操作部２２から延出するユニバーサルケーブル２３と、を有して構成されている。コントロールシステム１２と内視鏡１１とは、操作部２２から延出されたユニバーサルケーブル２３により接続されている。 The endoscope 11 is configured to have an elongated insertion section 21, an operation section 22 provided on the base end side of the insertion section 21, and a universal cable 23 extending from the operation section 22. The control system 12 and the endoscope 11 are connected by a universal cable 23 extending from the operation unit 22.
　挿入部２１は、挿入部本体３１と、回転部材３２とを有して構成されている。挿入部本体３１は、被検体の管腔の内部に長手方向の先端側から挿入されるとともに、長手軸方向に沿って延設される細長形状を有して構成されている。また、挿入部本体３１は、先端から順に、先端硬質部３１ａと、湾曲部３１ｂと、可撓管部３１ｃを設けて構成されている。 The insertion section 21 is configured to include an insertion section main body 31 and a rotating member 32. The insertion portion main body 31 has an elongated shape that is inserted into the lumen of the subject from the distal end side in the longitudinal direction and extends along the longitudinal axis direction. The insertion portion main body 31 is provided with a distal end hard portion 31a, a curved portion 31b, and a flexible tube portion 31c in this order from the distal end.
　可撓管部３１ｃは、被検体の管腔の曲がり形状に従う可撓性を有している。湾曲部３１ｂは、複数の湾曲駒を有する公知の構造で形成されている。湾曲部３１ｂは、操作部２２の操作に応じて、上下左右方向の４方向に湾曲可能である。 (4) The flexible tube portion 31c has flexibility according to the bent shape of the lumen of the subject. The bending portion 31b is formed by a known structure having a plurality of bending pieces. The bending portion 31b can be bent in four directions, up, down, left, and right, in accordance with the operation of the operation unit 22.
　挿入部２１の先端硬質部３１ａには、図示しない観察窓と、図示しない照明窓が設けられている。先端硬質部３１ａの観察窓の後ろ側には、図示しない撮像部が設けられている。撮像部は、観察光学系及び撮像素子を有して構成されている。 観 察 An observation window (not shown) and an illumination window (not shown) are provided in the distal end hard portion 31 a of the insertion portion 21. An imaging unit (not shown) is provided behind the observation window of the distal end hard portion 31a. The imaging unit includes an observation optical system and an imaging device.
　内視鏡１１の挿入部２１、操作部２２及びユニバーサルケーブル２３の内部には、複数の光ファイバ束からなるライトガイド４１、及び、撮像信号用の信号ケーブル４２がそれぞれ挿通されている。また、操作部２２及びユニバーサルケーブル２３の内部には、モータ駆動用ケーブル４３が挿通されている。 (4) A light guide 41 composed of a plurality of optical fiber bundles and a signal cable 42 for an image signal are inserted through the insertion section 21, the operation section 22, and the universal cable 23 of the endoscope 11, respectively. A motor driving cable 43 is inserted into the operation unit 22 and the universal cable 23.
　ユニバーサルケーブル２３の先端には、コネクタ２３ａが設けられている。コネクタ２３ａには、ライトガイドコネクタ４１ａ、プロセッサ用ケーブル４１ｂ及びコントローラ用ケーブル４１ｃが設けられている。 コ ネ ク タ A connector 23a is provided at the end of the universal cable 23. The connector 23a is provided with a light guide connector 41a, a processor cable 41b, and a controller cable 41c.
　コネクタ２３ａは、内部に基板を有し、その基板にはメモリ２３ｂが搭載されている。メモリ２３ｂは、書き換え可能な不揮発性メモリである。コントロールシステム１２のコントローラ１２ｄは、コントローラ用ケーブル４１ｃを介してメモリ２３ｂにアクセス可能であり、図示しない信号線を介してデータを書き込むことができる。 The connector 23a has a board inside, and the memory 23b is mounted on the board. The memory 23b is a rewritable nonvolatile memory. The controller 12d of the control system 12 can access the memory 23b through the controller cable 41c, and can write data through a signal line (not shown).
　信号ケーブル４２は、プロセッサ用ケーブル４１ｂの内部に挿通されているとともに、プロセッサ１２ｂに対して接続することができるように構成されている。モータ駆動用ケーブル４３は、コントローラ用ケーブル４１ｃの内部に挿通されているとともに、コントローラ１２ｄに対して接続することができるように構成されている。 The signal cable 42 is inserted through the processor cable 41b and is configured to be connectable to the processor 12b. The motor driving cable 43 is inserted into the controller cable 41c and is configured to be connectable to the controller 12d.
　操作部２２は、把持部５１と、挿入部２１の可撓管部３１ｃの基端部を支持する折れ止め部５２と、把持部５１に設けられた２つのノブ５１ａ及び５１ｂと、各種の指示が割り当てられる複数のボタンを有する操作部材部５３と、を有して構成されている。操作部材部５３には、レリーズボタン、吸引ボタン及び送気／送水ボタン等が設けられている。 The operation unit 22 includes a grip 51, a buckling stopper 52 supporting a base end of the flexible tube 31 c of the insertion unit 21, two knobs 51 a and 51 b provided on the grip 51, and various instructions. And an operation member section 53 having a plurality of buttons to which are assigned. The operation member section 53 is provided with a release button, a suction button, an air / water supply button, and the like.
　折れ止め部５２は、挿入部２１の可撓管部３１ｃが折れ曲がることを防止する。内視鏡１１のユーザである、例えば術者は、ノブ５１ａを回動操作することにより、図１に示す挿入部２１の湾曲部３１ｂを上下方向に湾曲させることができる。ユーザは、ノブ５１ｂを回動操作することにより、湾曲部３１ｂを左右方向に湾曲させることができる。 The bend preventing portion 52 prevents the flexible tube portion 31c of the insertion portion 21 from being bent. The user of the endoscope 11, for example, an operator can turn the knob 51a to bend the bending portion 31b of the insertion portion 21 shown in FIG. 1 in the vertical direction. The user can bend the bending portion 31b in the left-right direction by rotating the knob 51b.
　図１に示すように、回転部材３２は、内視鏡１１の挿入部２１に配置されている。より具体的には、回転部材３２は、湾曲部３１ｂの基端側であって、可撓管部３１ｃの例えば先端部近傍の外周面に、挿入部本体３１の先端側から着脱可能に取り付けられている。回転部材３２は、外周部に、螺旋状に突出したフィン３２ａを有して構成されている。回転部材３２は、挿入部本体３１の先端硬質部３１ａ及び湾曲部３１ｂを通して可撓管部３１ｃの所定の位置に着脱可能に構成されている。回転部材３２は、モータ７１の駆動力によって挿入部２１の長手軸周りに回転する被駆動部材として構成されている。 回 転 As shown in FIG. 1, the rotating member 32 is disposed in the insertion section 21 of the endoscope 11. More specifically, the rotating member 32 is detachably attached to the proximal end side of the curved portion 31b and, for example, to the outer peripheral surface near the distal end portion of the flexible tube portion 31c from the distal end side of the insertion portion main body 31. ing. The rotating member 32 is configured to have fins 32a protruding in a spiral shape on the outer peripheral portion. The rotating member 32 is configured to be detachable at a predetermined position of the flexible tube portion 31c through the distal end hard portion 31a and the curved portion 31b of the insertion portion main body 31. The rotating member 32 is configured as a driven member that rotates around the longitudinal axis of the insertion section 21 by the driving force of the motor 71.
　挿入部２１と操作部２２との境界付近から可撓管部３１ｃの例えば先端部にかけての部位には、回転部材３２を駆動するための駆動ユニット６１が設けられている。回転部材３２は、駆動ユニット６１の駆動力により回転することができるように構成されている。回転部材３２の回転方向は、挿入部本体３１の中心軸ＣＯの軸周りの両方向である。そのため、回転部材３２は、挿入部本体３１を被検体の管腔内へ挿入する際の操作を補助する補助具として用いることができる。また、回転部材３２は、被検体の管腔内に挿入された挿入部本体３１を抜去する際の操作を補助する補助具として用いることができる。すなわち、回転部材３２は、挿入部本体３１の挿入及び抜去に係る操作を補助することが可能な補助具として構成されている。なお、本実施形態においては、挿入部本体３１の中心軸ＣＯが挿入部本体３１の長手軸と同軸であるものとして説明を行う。 駆 動 A drive unit 61 for driving the rotating member 32 is provided at a portion from the vicinity of the boundary between the insertion portion 21 and the operation portion 22 to, for example, the distal end portion of the flexible tube portion 31c. The rotating member 32 is configured to be able to rotate by the driving force of the driving unit 61. The rotation directions of the rotation member 32 are both directions around the central axis CO of the insertion portion main body 31. Therefore, the rotating member 32 can be used as an auxiliary tool for assisting the operation when inserting the insertion section main body 31 into the lumen of the subject. In addition, the rotating member 32 can be used as an auxiliary tool for assisting an operation when removing the insertion portion main body 31 inserted into the lumen of the subject. That is, the rotating member 32 is configured as an auxiliary tool capable of assisting an operation related to insertion and removal of the insertion portion main body 31. In the present embodiment, the description will be made assuming that the central axis CO of the insertion section main body 31 is coaxial with the longitudinal axis of the insertion section main body 31.
　駆動ユニット６１は、挿入部２１と操作部２２との境界付近に配設されるモータユニット６２と、可撓管部３１ｃの例えば先端部に配設される歯車６３と、モータユニット６２と歯車６３との間に配設されるドライブシャフト６４と、を有して構成されている。 The drive unit 61 includes a motor unit 62 disposed near a boundary between the insertion section 21 and the operation section 22, a gear 63 disposed at, for example, a distal end of the flexible tube section 31c, and a motor unit 62 and a gear 63. And a drive shaft 64 disposed between the two.
　モータユニット６２は、駆動源としてのモータ７１と、歯車列７２とを有する。モータ７１及び歯車列７２は、挿入部２１の基端側に配置されている。また、モータユニット６２は、挿入部２１と操作部２２との境界付近から挿入部２１の長手方向に対して直交する方向に突出した状態で、歯車支持フレームであるギアボックス７３内に収納されている。 The motor unit 62 has a motor 71 as a drive source and a gear train 72. The motor 71 and the gear train 72 are arranged on the base end side of the insertion section 21. The motor unit 62 is housed in a gear box 73 serving as a gear support frame in a state protruding from a vicinity of a boundary between the insertion portion 21 and the operation portion 22 in a direction orthogonal to a longitudinal direction of the insertion portion 21. I have.
　図１に示すように、ドライブシャフト６４は、可撓管３１ｃ内に挿通されている。ドライブシャフト６４の外側には、チャンネル６６が配設されている。 ド ラ イ ブ As shown in FIG. 1, the drive shaft 64 is inserted into the flexible tube 31c. A channel 66 is provided outside the drive shaft 64.
　チャンネル６６は、チューブ本体６６ａと固定部６６ｂとを有する。チューブ本体６６ａには、ドライブシャフト６４が挿通されている。チューブ本体６６ａは、ドライブシャフト６４の外側を略全長にわたって保護する。固定部６６ｂは、チューブ本体６６ａの基端に固定されている。 The channel 66 has a tube main body 66a and a fixing portion 66b. The drive shaft 64 is inserted through the tube body 66a. The tube body 66a protects the outside of the drive shaft 64 over substantially the entire length. The fixing portion 66b is fixed to the base end of the tube main body 66a.
　ドライブシャフト６４は、チューブ本体６６ａだけでなく、円筒状の固定部６６ｂ内にも挿通されている。チューブ本体６６ａは、電気絶縁性、耐摩耗性及びフレキシブル性を有する樹脂等の材料を用いて形成されている。 The drive shaft 64 is inserted not only into the tube main body 66a but also into the cylindrical fixing portion 66b. The tube main body 66a is formed using a material such as a resin having electrical insulation, abrasion resistance and flexibility.
　ドライブシャフト６４の先端には、歯車６３が固定されている。また、ドライブシャフト６４の基端には、中継歯車９０が固定されている。また、ドライブシャフト６４のうち、中継歯車９０よりも先端側の部分は、適宜のコシを有するとともに可撓性を有している。モータユニット６２内のモータが回転すると、中継歯車９０が回転し、その結果、ドライブシャフト６４が、ドライブシャフト６４の軸周りに回転する。 歯 車 A gear 63 is fixed to the tip of the drive shaft 64. A relay gear 90 is fixed to the base end of the drive shaft 64. In addition, a portion of the drive shaft 64 closer to the tip end than the relay gear 90 has appropriate elasticity and flexibility. When the motor in the motor unit 62 rotates, the relay gear 90 rotates, and as a result, the drive shaft 64 rotates around the axis of the drive shaft 64.
　回転部材３２は、円筒形状を有しており、内周面に歯部（以下、内周歯部という）３２ｂを有している。内周歯部３２ｂは、回転部材３２の内周面に形成されていてもよいし、回転部材３２の内周面に固定された円筒部材の内周面に形成されていてもよい。 The rotating member 32 has a cylindrical shape, and has a tooth portion (hereinafter referred to as an inner tooth portion) 32b on the inner peripheral surface. The inner peripheral tooth portion 32b may be formed on the inner peripheral surface of the rotating member 32 or may be formed on the inner peripheral surface of a cylindrical member fixed to the inner peripheral surface of the rotating member 32.
　回転部材３２が可撓管３１ｃの所定位置に配置されたときに、歯車６３は、内周歯部６３ｂと噛み合う。よって、ドライブシャフト６４が軸周りに回転すると、歯車６３の回転に伴い、回転部材３２は、可撓管３１ｃの長手軸周りに回転する。 歯 車 When the rotating member 32 is disposed at a predetermined position of the flexible tube 31c, the gear 63 meshes with the inner peripheral tooth portion 63b. Therefore, when the drive shaft 64 rotates around the axis, the rotation member 32 rotates around the longitudinal axis of the flexible tube 31c with the rotation of the gear 63.
　コントロールシステム１２は、光源ユニット１２ａと、プロセッサ１２ｂと、モニタ１２ｃと、コントローラ１２ｄと、入力ユニット１２ｅとを有して構成されている。光源ユニット１２ａとプロセッサ１２ｂは接続されている。プロセッサ１２ｂとモニタ１２ｃも接続されている。光源ユニット１２ａとコントローラ１２ｄも接続されている。コントローラ１２ｄと入力ユニット１２ｅも接続されている。 The control system 12 includes a light source unit 12a, a processor 12b, a monitor 12c, a controller 12d, and an input unit 12e. The light source unit 12a and the processor 12b are connected. The processor 12b and the monitor 12c are also connected. The light source unit 12a and the controller 12d are also connected. The controller 12d and the input unit 12e are also connected.
　光源ユニット１２ａは、観察対象を照明するための照明光を出射する。光源ユニット１２ａの照明光は、ライトガイドコネクタ４１ａに入射する。 The light source unit 12a emits illumination light for illuminating the observation target. The illumination light from the light source unit 12a enters the light guide connector 41a.
　プロセッサ１２ｂは、観察光学系の撮像部により撮像された画像を処理して内視鏡画像を生成する画像処理ユニットを有する。プロセッサ１２ｂは、プロセッサ用ケーブル４１ｂを介して内視鏡１１の撮像部と接続される。　
　モニタ１２ｃは、生成された内視鏡画像を表示する表示部として構成されている。 The processor 12b includes an image processing unit that processes an image captured by the imaging unit of the observation optical system to generate an endoscope image. The processor 12b is connected to the imaging unit of the endoscope 11 via the processor cable 41b.
The monitor 12c is configured as a display unit that displays the generated endoscope image.
　コントローラ１２ｄは、内視鏡システム１全体を制御する。コントローラ１２ｄは、内視鏡本体である内視鏡１１が使用されるときに接続される周辺機器である。 The controller 12d controls the entire endoscope system 1. The controller 12d is a peripheral device connected when the endoscope 11, which is the main body of the endoscope, is used.
　入力ユニット１２ｅは、コントローラ１２ｄに指示等を入力する装置である。入力ユニット１２ｅは、例えば図示しないキーボードやフットスイッチ等である。入力ユニット１２ｅは、モータ７１を制御し、挿入部２１の体腔内に対する進退動作を指示する、前進スイッチＦＳ及び後退スイッチＢＳを有して構成されている。 The input unit 12e is a device for inputting instructions and the like to the controller 12d. The input unit 12e is, for example, a keyboard or a foot switch (not shown). The input unit 12e includes a forward switch FS and a backward switch BS for controlling the motor 71 and instructing the insertion section 21 to move in and out of the body cavity.
　コントローラ１２ｄは、専用装置だけではなく、例えば、任意のプログラムを搭載するパーソナルコンピュータ等の汎用的な処理装置であってもよい。 The controller 12d is not limited to a dedicated device, but may be a general-purpose processing device such as a personal computer on which an arbitrary program is installed.
　モータユニット６２は、コントローラ１２ｄからのコマンドに応じて、モータ７１の回転速度をサーボ制御などにより制御する。コントローラ１２ｄは、モータ７１の回転方向及び回転方向を制御する。術者が、前進スイッチＦＳあるいは後退スイッチＢＳを押下することにより、挿入部２１は、被検体の管腔内を前進あるいは後退する。 The motor unit 62 controls the rotation speed of the motor 71 by servo control or the like in response to a command from the controller 12d. The controller 12d controls the rotation direction and the rotation direction of the motor 71. When the surgeon presses the forward switch FS or the backward switch BS, the insertion section 21 advances or retracts in the lumen of the subject.
　ここで、モータユニット６２及びその周辺部分の構成の一例について、図２及び図３等を参照しつつ説明する。図２は、実施形態に係る内視鏡に設けられたモータユニット及びその周辺部分の構成の一例を概略的に示す断面図である。図３は、図２の一部を拡大した図である。 Here, an example of the configuration of the motor unit 62 and its peripheral parts will be described with reference to FIGS. FIG. 2 is a cross-sectional view schematically illustrating an example of a configuration of a motor unit provided in the endoscope according to the embodiment and peripheral portions thereof. FIG. 3 is an enlarged view of a part of FIG.
　モータ７１は、内視鏡１１に内蔵されて設けられている。歯車列７２は、内視鏡１１に内蔵されたモータ７１からの回転駆動力を伝達する、複数の歯車を有している。ギアボックス７３は、ケース本体８３ａとキャップ８３ｂにより構成された外装ケース８３を有している。 The motor 71 is provided so as to be built in the endoscope 11. The gear train 72 has a plurality of gears that transmit a rotational driving force from a motor 71 built in the endoscope 11. The gear box 73 has an outer case 83 constituted by a case body 83a and a cap 83b.
　モータ７１は、円筒状のモータシャフト７１ａを先端に有して構成されている。また、モータ７１は、基端から延びるケーブル７１ｂを介して回路基板８１ａに接続されている。回路基板８１ａには、モータ駆動用ケーブル４３に接続可能なコネクタ８１ｂが設けられている。すなわち、モータ７１は、回路基板８１ａを介してモータ駆動用ケーブル４３に接続されている。 The motor 71 has a cylindrical motor shaft 71a at the tip. The motor 71 is connected to a circuit board 81a via a cable 71b extending from a base end. The circuit board 81a is provided with a connector 81b that can be connected to the motor driving cable 43. That is, the motor 71 is connected to the motor driving cable 43 via the circuit board 81a.
　モータシャフト７１ａには、中継歯車７１ｃ及び軸受部材７１ｄが取り付けられている。モータシャフト７１ａは、軸受部材７１ｄを取り付けた状態でブラケット１１１に嵌め込まれている。また、モータシャフト７１ａは、モータ７１の回転に伴い、回転軸Ｍ（図３参照）の軸周りに回転する。モータシャフト７１ａの回転軸Ｍは、軸受部材７１ｄを取り付けたモータシャフト７１ａがブラケット１１１に嵌め込まれている状態において、中心軸ＣＯに対して平行になる。 中 継 A relay gear 71c and a bearing member 71d are attached to the motor shaft 71a. The motor shaft 71a is fitted into the bracket 111 with the bearing member 71d attached. The motor shaft 71a rotates around the rotation axis M (see FIG. 3) with the rotation of the motor 71. The rotation axis M of the motor shaft 71a is parallel to the center axis CO in a state where the motor shaft 71a to which the bearing member 71d is attached is fitted into the bracket 111.
　すなわち、モータ７１は、挿入部２１の長手軸に相当する中心軸ＣＯに対して平行な回転軸Ｍの軸周りに回転することにより、回転部材３２を駆動させるための駆動力を発生する。 That is, the motor 71 generates a driving force for driving the rotating member 32 by rotating about a rotation axis M parallel to a central axis CO corresponding to the longitudinal axis of the insertion portion 21.
　中継歯車７１ｃは、歯車列７２の中継歯車７２ｃに対して噛み合う位置に取り付けられており、モータシャフト７１ａの回転に応じて回転軸Ｍの軸周りに回転する。 The relay gear 71c is mounted at a position where the relay gear 71c meshes with the relay gear 72c of the gear train 72, and rotates around the rotation axis M according to the rotation of the motor shaft 71a.
　歯車列７２には、回転軸Ｇ１（図３参照）の軸周りに回転する中継歯車７２ｃと、回転軸Ｇ２（図３参照）の軸周りに回転する中継歯車７２ｄと、中継歯車９０と、が設けられている。中継歯車７２ｃは、円筒状のシャフト部材７２ａの先端側のうちの中継歯車７１ｃに対して噛み合う位置に取り付けられている。シャフト部材７２ａにおける中継歯車７２ｃの近傍には、キャップ７２ｂが嵌め込まれている。中継歯車７２ｄは、シャフト部材７２ａの基端側に形成された歯部と、ドライブシャフト６４の基端を収容可能な内部空間９０ａを有する円筒状の中継歯車９０と、のそれぞれに対して噛み合う位置に配置されている。 The gear train 72 includes a relay gear 72c that rotates around the axis of the rotation axis G1 (see FIG. 3), a relay gear 72d that rotates around the axis of the rotation axis G2 (see FIG. 3), and a relay gear 90. Is provided. The relay gear 72c is attached to a position on the distal end side of the cylindrical shaft member 72a that meshes with the relay gear 71c. A cap 72b is fitted near the relay gear 72c in the shaft member 72a. The relay gear 72d is located at a position where it meshes with each of the teeth formed on the proximal end side of the shaft member 72a and the cylindrical relay gear 90 having an internal space 90a capable of accommodating the proximal end of the drive shaft 64. Are located in
　図３に示すように、シャフト部材７２ａにおける中継歯車７２ｃの基端側に隣接する位置には、転がり軸受７２ｅが取り付けられている。なお、本実施形態においては、例えば、玉軸受、ころ軸受、及び、針軸受等の軸受部材を転がり軸受７２ｅとして用いることができる。また、本実施形態においては、転がり軸受７２ｅの代わりにすべり軸受が取り付けられていてもよい。 転 As shown in FIG. 3, a rolling bearing 72e is attached to the shaft member 72a at a position adjacent to the base end side of the relay gear 72c. In the present embodiment, for example, a bearing member such as a ball bearing, a roller bearing, and a needle bearing can be used as the rolling bearing 72e. Further, in the present embodiment, a sliding bearing may be attached instead of the rolling bearing 72e.
　転がり軸受７２ｅは、内輪が外輪に対して回転するとともに、シャフト部材７２ａが回転軸Ｇ１の軸周りに回転可能な状態で当該内輪に挿通される軸受部材として形成されている。転がり軸受７２ｅの外輪は、ブラケット１１１と、歯車列７２の外装を構成するハウジング７２ｆと、のそれぞれに対して嵌め込まれた状態で固定されている。 The rolling bearing 72e is formed as a bearing member that is inserted into the inner ring while the inner ring rotates with respect to the outer ring and the shaft member 72a is rotatable around the rotation axis G1. The outer ring of the rolling bearing 72e is fixed in a state of being fitted into each of the bracket 111 and the housing 72f constituting the exterior of the gear train 72.
　シャフト部材７２ａの先端側は、ハウジング７２ｆから突出している。シャフト部材７２ａは、中継歯車７１ｃ及び７２ｃの回転に伴い、転がり軸受７２ｅの内輪とともに回転軸Ｇ１の軸周りに回転する。回転軸Ｇ１は、転がり軸受７２ｅを取り付けたシャフト部材７２ａがブラケット１１１に嵌め込まれている状態において、中心軸ＣＯに対して平行になる。すなわち、シャフト部材７２ａは、モータシャフト７１ａの回転に伴って回転軸Ｇ１の軸周りに回転する。 先端 A distal end side of the shaft member 72a protrudes from the housing 72f. The shaft member 72a rotates around the rotation axis G1 together with the inner ring of the rolling bearing 72e with the rotation of the relay gears 71c and 72c. The rotation axis G1 is parallel to the central axis CO in a state where the shaft member 72a to which the rolling bearing 72e is attached is fitted into the bracket 111. That is, the shaft member 72a rotates around the rotation axis G1 with the rotation of the motor shaft 71a.
　図３に示すように、シャフト部材７２ｇは、２つの玉軸受７２ｈを取り付けた状態でハウジング７２ｆに嵌め込まれている。 シ ャ フ ト As shown in FIG. 3, the shaft member 72g is fitted into the housing 72f with the two ball bearings 72h attached.
　玉軸受７２ｈは、外輪が内輪に対して回転するとともに、シャフト部材７２ｇが当該内輪に挿嵌される軸受部材として形成されている。中継歯車７２ｄは、２つの玉軸受７２ｈの外輪を覆うような位置に取り付けられている。また、中継歯車７２ｄは、シャフト部材７２ａの基端側に形成された歯部の回転に伴い、２つの玉軸受７２ｈの外輪とともに、シャフト部材７２ｇの中心軸に相当する回転軸Ｇ２の軸周りに回転する。回転軸Ｇ２は、転がり軸受７２ｅを取り付けたシャフト部材７２ａがブラケット１１１に嵌め込まれている状態において、中心軸ＣＯに対して平行になる。 The ball bearing 72h is formed as a bearing member in which the outer ring rotates with respect to the inner ring, and the shaft member 72g is inserted into the inner ring. The relay gear 72d is attached at a position so as to cover the outer rings of the two ball bearings 72h. In addition, the relay gear 72d, together with the outer rings of the two ball bearings 72h, rotates around the rotation axis G2 corresponding to the central axis of the shaft member 72g with the rotation of the teeth formed on the base end side of the shaft member 72a. Rotate. The rotating shaft G2 is parallel to the central axis CO in a state where the shaft member 72a to which the rolling bearing 72e is attached is fitted into the bracket 111.
　すなわち、本実施形態においては、中心軸ＣＯと、回転軸Ｍと、回転軸Ｇ１と、回転軸Ｇ２と、が互いに平行な位置関係を有している。また、本実施形態においては、モータシャフト７１ａ、シャフト部材７２ａ及びシャフト部材７２ｇが互いに平行な位置関係を有して配置される。 That is, in the present embodiment, the central axis CO, the rotation axis M, the rotation axis G1, and the rotation axis G2 have a positional relationship parallel to each other. In the present embodiment, the motor shaft 71a, the shaft member 72a, and the shaft member 72g are arranged so as to have a parallel positional relationship with each other.
　以上に述べた構成によれば、モータ７１において発生した回転駆動力が、モータシャフト７１ａ及び中継歯車７１ｃを経て中継歯車７２ｃに伝達される。また、以上に述べた構成によれば、中継歯車７２ｃに伝達された回転駆動力が、シャフト部材７２ａ、中継歯車７２ｄ及び中継歯車９０を経てドライブシャフト６４の基端に伝達される。 According to the configuration described above, the rotational driving force generated in the motor 71 is transmitted to the relay gear 72c via the motor shaft 71a and the relay gear 71c. Further, according to the configuration described above, the rotational driving force transmitted to the relay gear 72c is transmitted to the base end of the drive shaft 64 via the shaft member 72a, the relay gear 72d, and the relay gear 90.
　すなわち、中継歯車７１ｃ、シャフト部材７２ａ、中継歯車７２ｃ、中継歯車７２ｄ、中継歯車９０及びドライブシャフト６４は、モータ７１において発生した駆動力を回転部材３２に伝達する駆動力伝達機構を構成している。また、回転部材３２は、モータシャフト７１ａ及びシャフト部材７２ａの回転により伝達される駆動力に応じて挿入部２１の長手軸周りに回転する。 That is, the relay gear 71c, the shaft member 72a, the relay gear 72c, the relay gear 72d, the relay gear 90, and the drive shaft 64 constitute a driving force transmission mechanism that transmits the driving force generated by the motor 71 to the rotating member 32. . Further, the rotating member 32 rotates around the longitudinal axis of the insertion section 21 according to the driving force transmitted by the rotation of the motor shaft 71a and the shaft member 72a.
　図４に示すように、転がり軸受７２ｅには、シャフト部材７２ａとともに回転する内輪７６ａと、先端側の一部がハウジング７２ｆからはみ出した状態でハウジング７２ｆに嵌め込まれている外輪７６ｂと、が設けられている。また、図４及び図５に示すように、転がり軸受７２ｅの外輪７６ｂの周囲には、ブラケット１１１の被嵌合部１１１ｃ（後述）に対して嵌め合わせることが可能な形状を有する嵌合部７７が形成されている。具体的には、嵌合部７７は、インロー構造における雄側に対応する凸形状を有して形成されている。図４及び図５は、実施形態に係る内視鏡に設けられた歯車列の構成の一例を説明するための図である。 As shown in FIG. 4, the rolling bearing 72e is provided with an inner ring 76a that rotates together with the shaft member 72a, and an outer ring 76b that is fitted into the housing 72f with a part of the distal end protruding from the housing 72f. ing. As shown in FIGS. 4 and 5, a fitting portion 77 having a shape that can be fitted to a fitted portion 111c (described later) of the bracket 111 is provided around the outer ring 76b of the rolling bearing 72e. Is formed. Specifically, the fitting portion 77 is formed to have a convex shape corresponding to the male side in the spigot structure. 4 and 5 are diagrams for explaining an example of a configuration of a gear train provided in the endoscope according to the embodiment.
　図６に示すように、ブラケット１１１は、軸受部材７１ｄが取り付けられたモータシャフト７１ａ（図示省略）が嵌め込まれる孔１１１ａと、転がり軸受７２ｅが取り付けられたシャフト部材７２ａが嵌め込まれる孔１１１ｂと、が設けられた固定部材として構成されている。換言すると、ブラケット１１１は、モータシャフト７１ａにおける軸受部材７１ｄが取り付けられた部分が嵌め込まれる孔１１１ａと、シャフト部材７２ａにおける転がり軸受７２ｅが取り付けられた部分が嵌め込まれる孔１１１ｂと、が設けられた固定部材として構成されている。孔１１１ｂには、歯車列７２の嵌合部７７に対して嵌め合わせることが可能な形状を有する被嵌合部１１１ｃが形成されている。具体的には、嵌合部１１１ｃは、インロー構造における雌側に対応する凹形状を有して形成されている。なお、キャップ７２ｂ及び中継歯車７２ｃは、シャフト部材７２ａを孔１１１ｂに嵌め込んだ後で、シャフト部材７２ａの先端側の所定の位置にそれぞれ取り付けられる。 As shown in FIG. 6, the bracket 111 has a hole 111a into which a motor shaft 71a (not shown) to which a bearing member 71d is attached and a hole 111b into which a shaft member 72a to which a rolling bearing 72e is attached are fitted. It is configured as a provided fixing member. In other words, the bracket 111 has a fixed portion provided with a hole 111a into which the portion of the motor shaft 71a to which the bearing member 71d is attached and a hole 111b into which the portion of the shaft member 72a to which the rolling bearing 72e is attached. It is configured as a member. In the hole 111b, a fitted portion 111c having a shape that can be fitted to the fitting portion 77 of the gear train 72 is formed. Specifically, the fitting portion 111c is formed to have a concave shape corresponding to the female side in the spigot structure. Note that the cap 72b and the relay gear 72c are respectively attached to predetermined positions on the distal end side of the shaft member 72a after the shaft member 72a is fitted into the hole 111b.
　すなわち、シャフト部材７２ａは、転がり軸受７２ｅと、転がり軸受７２ｅの外周面の一部を覆うような形状を有するハウジング７２ｆと、により形成された嵌合部７７と、孔１１１ｂに形成された被嵌合部１１１ｃと、を嵌合させた状態でブラケット１１１に嵌め込まれる。また、歯車列７２及びブラケット１１１は、インロー構造により連結される。 That is, the shaft member 72a has a fitting portion 77 formed by a rolling bearing 72e, a housing 72f having a shape that covers a part of the outer peripheral surface of the rolling bearing 72e, and a fitting formed in the hole 111b. The fitting portion 111c is fitted into the bracket 111 with the fitting portion 111c fitted. The gear train 72 and the bracket 111 are connected by a spigot structure.
　ここで、本実施形態によれば、軸受部材７１ｄを取り付けたモータシャフト７１ａを孔１１１ａに嵌め込むことにより、ブラケット１１１に対する回転軸Ｍの位置が規定される。また、本実施形態によれば、転がり軸受７２ｅを取り付けたシャフト部材７２ａを孔１１１ｂに嵌め込むことにより、嵌合部７７と被嵌合部１１１ｃとが嵌め合わせられるとともに、ブラケット１１１に対する回転軸Ｇ１（及びＧ２）の位置が規定される。そのため、本実施形態によれば、軸受部材７１ｄを取り付けたモータシャフト７１ａを孔１１１ａに嵌め込むとともに、転がり軸受７２ｅを取り付けたシャフト部材７２ａを孔１１１ｂに嵌め込むことにより、回転軸Ｍと回転軸Ｇ１との間の軸間距離ＴＬを確実に所定の距離に設定することができる。従って、本実施形態によれば、モータ７１において発生した駆動力を回転部材３２へ伝達するための機構の組立てに係る作業の煩雑さを軽減することができる。 According to the present embodiment, the position of the rotation axis M with respect to the bracket 111 is defined by fitting the motor shaft 71a to which the bearing member 71d is attached into the hole 111a. Further, according to the present embodiment, by fitting the shaft member 72a to which the rolling bearing 72e is attached into the hole 111b, the fitting portion 77 and the fitted portion 111c are fitted together, and the rotating shaft G1 with respect to the bracket 111 is fitted. (And the position of G2) are defined. Therefore, according to the present embodiment, the motor shaft 71a to which the bearing member 71d is attached is fitted into the hole 111a, and the shaft member 72a to which the rolling bearing 72e is attached is fitted into the hole 111b. The inter-axis distance TL with G1 can be reliably set to a predetermined distance. Therefore, according to the present embodiment, it is possible to reduce the complexity of the operation related to the assembly of the mechanism for transmitting the driving force generated by the motor 71 to the rotating member 32.
　なお、本発明は、上述した実施形態に限定されるものではなく、発明の趣旨を逸脱しない範囲内において種々の変更や応用が可能であることは勿論である。 Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications and applications can be made without departing from the spirit of the invention.
　本出願は、２０１８年６月２６日に日本国に出願された特願２０１８－１２０７２７号を優先権主張の基礎として出願するものであり、上記の開示内容は、本願明細書、請求の範囲に引用されるものとする。 This application is based on Japanese Patent Application No. 2018-120727 filed on June 26, 2018 as the basis for claiming priority, and the contents disclosed above are described in the present specification and claims. Shall be quoted.

Claims (5)

  1. 　被検体の内部に挿入される細長な挿入部と、
    　前記挿入部に設けられた被駆動部材と、
    　前記挿入部の長手軸に対して平行な第１の回転軸周りに回転することにより、前記被駆動部材を駆動させるための駆動力を発生する駆動源と、
    　前記駆動源の回転に伴って前記第１の回転軸周りに回転するとともに、第１の軸受部材が取り付けられた第１の軸部材と、
    　前記第１の軸部材の回転に伴って前記第１の回転軸に対して平行な第２の回転軸周りに回転し、前記駆動力を前記被駆動部材に伝達するとともに、第２の軸受部材が取り付けられた第２の軸部材と、
    　前記第１の軸受部材が取り付けられた前記第１の軸部材が嵌め込まれる第１の孔と、前記第２の軸受部材が取り付けられた前記第２の軸部材が嵌め込まれる第２の孔と、が設けられた固定部材と、
    　を有することを特徴とする挿入機器。     An elongated insertion portion inserted into the subject,
    A driven member provided in the insertion portion,
    A driving source that generates a driving force for driving the driven member by rotating around a first rotation axis parallel to a longitudinal axis of the insertion portion;
    A first shaft member that rotates around the first rotation axis with the rotation of the drive source and has a first bearing member attached thereto;
    The first shaft member rotates around a second rotation axis parallel to the first rotation axis with rotation of the first shaft member, and transmits the driving force to the driven member, and a second bearing member A second shaft member having attached thereto,
    A first hole in which the first shaft member to which the first bearing member is attached is fitted; a second hole in which the second shaft member to which the second bearing member is attached is fitted; A fixing member provided with
    An insertion device comprising:
  2. 　前記第２の軸部材は、前記第２の軸受部材と、前記第２の軸受部材の外周面の一部を覆うような形状を有するハウジングと、により形成された嵌合部と、前記第２の孔に形成された被嵌合部と、を嵌合させた状態で前記固定部材に嵌め込まれる
    　ことを特徴とする請求項１に記載の挿入機器。     The second shaft member includes a fitting portion formed by the second bearing member and a housing having a shape that covers a part of an outer peripheral surface of the second bearing member; The insertion device according to claim 1, wherein the insertion device is fitted into the fixing member in a state where the fitting portion formed in the hole is fitted.
  3. 　前記第２の軸受部材は、内輪が外輪に対して回転するとともに、前記第２の軸部材が前記第２の回転軸周りに回転可能な状態で前記内輪に挿通される転がり軸受である
    　ことを特徴とする請求項１に記載の挿入機器。     The second bearing member is a rolling bearing that is inserted through the inner ring while the inner ring rotates with respect to the outer ring and the second shaft member is rotatable around the second rotation axis. The insertion device according to claim 1, wherein
  4. 　前記挿入機器が内視鏡であり、
    　前記被駆動部材は、前記第１の軸部材及び前記第２の軸部材の回転により伝達される前記駆動力に応じて前記挿入部の長手軸周りに回転する回転部材である
    　ことを特徴とする請求項１に記載の挿入機器。     The insertion device is an endoscope,
    The driven member is a rotating member that rotates around a longitudinal axis of the insertion portion according to the driving force transmitted by rotation of the first shaft member and the second shaft member. The insertion device according to claim 1.
  5. 　前記回転部材は、外周部に螺旋状に突出したフィンを有して前記挿入部に対して着脱可能に構成されているとともに、前記被検体に対する前記挿入部の挿入及び抜去を補助する補助具として構成されている
    　ことを特徴とする請求項４に記載の挿入機器。     The rotating member is configured to have a fin that protrudes in a spiral shape on an outer peripheral portion, and is configured to be detachable from the insertion portion. The insertion device according to claim 4, wherein the insertion device is configured.
PCT/JP2019/007911 2018-06-26 2019-02-28 Insertion apparatus WO2020003614A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018120727A JP2021191315A (en) 2018-06-26 2018-06-26 Insertion device
JP2018-120727 2018-06-26

Publications (1)

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WO2020003614A1 true WO2020003614A1 (en) 2020-01-02

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PCT/JP2019/007911 WO2020003614A1 (en) 2018-06-26 2019-02-28 Insertion apparatus

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JP (1) JP2021191315A (en)
WO (1) WO2020003614A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016176586A (en) * 2015-03-23 2016-10-06 Ntn株式会社 Motor drive device with speed reducer for automobile
WO2017010128A1 (en) * 2015-07-15 2017-01-19 オリンパス株式会社 Drive force transmission mechanism for medical device
JP2018074790A (en) * 2016-10-31 2018-05-10 Ntn株式会社 Electric actuator

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016176586A (en) * 2015-03-23 2016-10-06 Ntn株式会社 Motor drive device with speed reducer for automobile
WO2017010128A1 (en) * 2015-07-15 2017-01-19 オリンパス株式会社 Drive force transmission mechanism for medical device
JP2018074790A (en) * 2016-10-31 2018-05-10 Ntn株式会社 Electric actuator

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